#!/usr/bin/python3
import copy
from queue import Queue, PriorityQueue
from threading import Event

import pygame

from config import *
from app.cmd_parser import Arg
from app.graphsearch import Node
from app.board import Board
from app.tractor import Tractor
from app.a_star import AStar
from app.bfs import Bfs


class App:
    def __init__(self, args: list[Arg]):
        self.__running = True
        self.__screen = None
        self.__clock = None
        self.__board = Board(args=args)
        self.__tractor = Tractor(self.__board)
        self.__bot_is_running = Event()
        self.__moves = None

    def initialize(self):
        pygame.init()
        pygame.display.set_caption(CAPTION)
        self.__screen = pygame.display.set_mode((WIDTH, HEIGHT))

        self.__clock = pygame.time.Clock()

    def event_handler(self, event: pygame.event.Event):
        if event.type == pygame.QUIT:
            self.__running = False

    def loop_handler(self):
        self.__board.draw(self.__screen)
        self.__tractor.draw(self.__screen)

    def keys_pressed_handler(self):
        keys = pygame.key.get_pressed()

        if keys[pygame.K_m]:
            self.__tractor.move()
            print(self.__tractor)

        if keys[pygame.K_w]:
            self.__tractor.move()
            print(self.__tractor)

        if keys[pygame.K_h]:
            self.__tractor.harvest()

        if keys[pygame.K_v]:
            self.__tractor.sow()

        if keys[pygame.K_n]:
            self.__tractor.hydrate()

        if keys[pygame.K_f]:
            self.__tractor.fertilize()

        if keys[pygame.K_l]:
            self.__tractor.rotate_left()

        if keys[pygame.K_r]:
            self.__tractor.rotate_right()

        if keys[pygame.K_b]:
            self.get_moves_by_bfs()
            if not self.__moves:
                print(f"Bfs is failed")
            else:
                print(f"Bfs is succeed")
                self.__bot_is_running.set()
                self.__tractor.run_bot_handler(self.__moves, self.__bot_is_running)

        if keys[pygame.K_c]:
            self.get_moves_by_a_star()
            if not self.__moves:
                print(f"A Star is failed")
            else:
                print(f"A Star is succeed")
                self.__bot_is_running.set()
                self.__tractor.run_bot_handler(self.__moves, self.__bot_is_running)

    def update_screen(self) -> None:
        pygame.display.flip()

    def quit(self) -> None:
        pygame.quit()

    def get_moves_by_a_star(self) -> None:
        x, y = self.__tractor.get_position()
        node = Node(None, x, y, self.__tractor.get_direction(), 0, "movement", "initial state")
        board = copy.deepcopy(self.__board)
        self.__moves = AStar.search(PriorityQueue(), Queue(), node,
                                       lambda n=node, b=board: AStar.succ(n, b),
                                       lambda n=node: AStar.goaltest(n), board)

    def get_moves_by_bfs(self) -> None:
        x, y = self.__tractor.get_position()
        node = Node(None, x, y, self.__tractor.get_direction(), 0, "movement", "initial state")
        board = copy.deepcopy(self.__board)
        self.__moves = Bfs.search(Queue(), Queue(), node,
                              lambda n=node, b=board: Bfs.succ(n, b),
                              lambda n=node: Bfs.goaltest(n), board)

    def run(self) -> None:
        self.initialize()

        while self.__running:
            self.__clock.tick(FPS)
            for event in pygame.event.get():
                self.event_handler(event)

            if not self.__bot_is_running.is_set():
                self.keys_pressed_handler()

            self.loop_handler()
            self.update_screen()

        self.quit()